EP3441273A3 - Method and system for collision avoidance - Google Patents

Method and system for collision avoidance Download PDF

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Publication number
EP3441273A3
EP3441273A3 EP18187509.7A EP18187509A EP3441273A3 EP 3441273 A3 EP3441273 A3 EP 3441273A3 EP 18187509 A EP18187509 A EP 18187509A EP 3441273 A3 EP3441273 A3 EP 3441273A3
Authority
EP
European Patent Office
Prior art keywords
force
joints
collision avoidance
vehicle
differentiable
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18187509.7A
Other languages
German (de)
French (fr)
Other versions
EP3441273A2 (en
Inventor
Atsushi Yokoyama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Publication of EP3441273A2 publication Critical patent/EP3441273A2/en
Publication of EP3441273A3 publication Critical patent/EP3441273A3/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/24—Direction of travel
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/10—Outdoor regulated spaces
    • G05D2107/13—Spaces reserved for vehicle traffic, e.g. roads, regulated airspace or regulated waters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)
  • Air Bags (AREA)

Abstract

Example implementations involve systems and methods to control the ego vehicle to trace connected plural curved paths, which are calculated as the movement of the vehicle 300 against vertical repulsive force from straight or curved walls, and connected continuously at the joints, and differentiable by position at the joints. Further, the repulsion force 301 acts as deceleration force and lateral force.
EP18187509.7A 2017-08-09 2018-08-06 Method and system for collision avoidance Withdrawn EP3441273A3 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US15/673,339 US10611368B2 (en) 2017-08-09 2017-08-09 Method and system for collision avoidance

Publications (2)

Publication Number Publication Date
EP3441273A2 EP3441273A2 (en) 2019-02-13
EP3441273A3 true EP3441273A3 (en) 2019-03-06

Family

ID=63490146

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18187509.7A Withdrawn EP3441273A3 (en) 2017-08-09 2018-08-06 Method and system for collision avoidance

Country Status (4)

Country Link
US (1) US10611368B2 (en)
EP (1) EP3441273A3 (en)
JP (1) JP2019031277A (en)
CN (1) CN109383497B (en)

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JP7262702B2 (en) * 2019-04-19 2023-04-24 マツダ株式会社 vehicle controller
JP7231884B2 (en) * 2019-04-19 2023-03-02 マツダ株式会社 vehicle controller
JP2020175795A (en) * 2019-04-19 2020-10-29 マツダ株式会社 Vehicle control unit
JP7332996B2 (en) * 2019-04-19 2023-08-24 マツダ株式会社 vehicle controller
JP2020175804A (en) * 2019-04-19 2020-10-29 マツダ株式会社 Vehicle control unit
JP7258284B2 (en) * 2019-04-19 2023-04-17 マツダ株式会社 vehicle controller
JP7497789B2 (en) * 2019-04-19 2024-06-11 マツダ株式会社 Vehicle control device
CN110143201A (en) * 2019-06-06 2019-08-20 吉林化工学院 An automobile mechanical impact buffer system and control method
CN112506176B (en) * 2019-08-26 2024-05-28 上海汽车集团股份有限公司 Path planning method and device
CN110758381B (en) * 2019-09-18 2021-05-04 北京汽车集团有限公司 Method and device for generating steering track, storage medium and electronic equipment
CN110793532A (en) * 2019-11-06 2020-02-14 深圳创维数字技术有限公司 Path navigation method, device and computer readable storage medium
CN111413968B (en) * 2020-03-17 2023-09-19 北京百度网讯科技有限公司 Vehicle control methods, devices and electronic equipment
CN113467438B (en) * 2020-03-31 2023-07-18 华为技术有限公司 Path planning method, device, controller and moving object
US11827217B2 (en) * 2020-08-28 2023-11-28 Ford Global Technologies, Llc Vehicle detection and response
CN114162137B (en) * 2020-09-10 2024-09-24 华为技术有限公司 Automatic driving method and device
CN112124299B (en) * 2020-09-14 2021-11-02 东南大学 A hierarchical energy consumption optimization method for intelligent network-connected new energy vehicles
US12110038B2 (en) * 2021-09-01 2024-10-08 AutoBrains Technologies Ltd. Virtual fields driving related operations
CN115056772A (en) * 2022-06-28 2022-09-16 重庆长安汽车股份有限公司 Prediction and decision method, system, storage medium and vehicle for autonomous passenger-riding parking
FR3140452A1 (en) * 2022-09-30 2024-04-05 Psa Automobiles Sa Method and device for controlling a vehicle driving assistance system as a function of the height of a road edge
FR3159783A1 (en) * 2024-02-29 2025-09-05 Stellantis Auto Sas Motor vehicle safety system intended to prevent a collision
US20260028044A1 (en) * 2024-07-25 2026-01-29 May Mobility, Inc. System and method for risk-aware behavioral policy selection by an autonomous agent
CN119611342B (en) * 2024-12-04 2025-11-11 柳州五菱新能源汽车有限公司 Four-wheel steering vehicle control method and device under non-rigid pavement

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EP1526028A2 (en) * 2003-10-23 2005-04-27 Nissan Motor Co., Ltd. Driving assist system for vehicle
EP1729991A1 (en) * 2004-03-03 2006-12-13 Nissan Motor Company, Limited Method and vehicle reacting to the detection of an in-path obstacle
EP2444274A2 (en) * 2010-10-19 2012-04-25 Panasonic Corporation Electric vehicle and method for controlling the same

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EP1526028A2 (en) * 2003-10-23 2005-04-27 Nissan Motor Co., Ltd. Driving assist system for vehicle
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Also Published As

Publication number Publication date
CN109383497A (en) 2019-02-26
JP2019031277A (en) 2019-02-28
EP3441273A2 (en) 2019-02-13
US20190047553A1 (en) 2019-02-14
CN109383497B (en) 2021-11-09
US10611368B2 (en) 2020-04-07

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